CN114285374A - Equipment positioning method and system for photovoltaic power station, electronic equipment and storage medium - Google Patents
Equipment positioning method and system for photovoltaic power station, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a device positioning method and system for a photovoltaic power station, electronic devices and storage media. The equipment positioning method comprises the following steps: acquiring the equipment number of equipment in the photovoltaic power station and the overhead data of the area where the equipment is located, generating an equipment panoramic map based on the equipment number and the overhead data, and carrying out meshing processing on the equipment panoramic map to obtain the position information of the equipment; acquiring device image data shot by an unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when shooting the device image data; determining a target device in the device image data; and determining the equipment number and the position information of the target equipment based on the position of the target equipment in the equipment image data, the longitude and latitude information of the corresponding unmanned aerial vehicle when the equipment image data is shot and the equipment panoramic map. The equipment positioning method realizes the automation of target equipment discovery and determination of the photovoltaic power station, improves the inspection and maintenance efficiency of the photovoltaic power station, and ensures the performance and safety of the photovoltaic power station.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection and photovoltaic power station operation and maintenance, in particular to a method and a system for positioning equipment of a photovoltaic power station, electronic equipment and a storage medium.
Background
According to the authoritative industry report, the newly increased installed capacity of photovoltaic power generation in China is 4820 ten thousand kilowatts in 2020, the accumulated installed capacity reaches 25300 ten thousand kilowatts, and is estimated to account for about 5% of the national power installation in 2025. However, the solar cell panel can cause the abnormal operation of the solar cell panel due to various reasons such as corrosion, hot spots and sundries shielding in the using process, and even can directly cause the scrapping of the whole solar cell panel in serious conditions, so that the solar cell panel can carry out daily routing inspection on a photovoltaic power station, detect the running condition of the photovoltaic panel in real time and timely eliminate the defect fault, and is important work content for the operation of a large photovoltaic power station.
Current photovoltaic power plant's the mode of patrolling and examining has been followed the artifical technique direction of patrolling and examining to automation from consuming time hard and developing gradually, for example patrol and examine with the help of unmanned aerial vehicle, unmanned aerial vehicle patrols and examines most unmanned aerial vehicle drivers that still need possess certain technique now and carries out on-the-spot manual operation to the defect analysis and the defect equipment location of taking photo by plane image still have the degree of difficulty, patrol and examine the design of mode at centralized photovoltaic power plant's automation to professional unmanned aerial vehicle, become a lot of photovoltaic power plant and improved the main research direction that operating efficiency reduces the running cost.
The traditional manual on-site inspection technology threshold of the photovoltaic cell panel is not high, and the operation technology of the professional unmanned aerial vehicle is developed to the inspection stage of the unmanned aerial vehicle, and due to the fact that a certain learning training threshold exists in the operation technology of the professional unmanned aerial vehicle, most photovoltaic power stations need to engage unmanned aerial vehicle drivers trained through a complete system for a long time to perform inspection unmanned aerial vehicle operation, and the number of operators of the professional unmanned aerial vehicle at present cannot meet the inspection requirement of the photovoltaic power station with higher growth speed; the existing unmanned aerial vehicle inspection scheme mostly adopts a basic GPS (Global Positioning System) satellite to position the position of the unmanned aerial vehicle, a common GPS Positioning date has a few-meter error, and when an aerial image is acquired, inspection workers are difficult to accurately position defective equipment due to extremely high similarity of the appearance of solar cell panel equipment of a large-scale photovoltaic power station and highly repeated video pictures, so that the position of the defective equipment needing to be maintained is difficult to accurately indicate when the defect is found; after the video images collected by the visible light and the infrared camera on the unmanned aerial vehicle are acquired, professional maintenance personnel analyze and diagnose the defect images, intercept GPS coordinates to perform rough positioning according to appointed video time, retrieve and position the defect equipment, generate and dispatch maintenance work orders from the system, delay time which cannot be ignored exists between the processing of the whole process and the defect faults of the equipment, and efficient response is difficult to achieve, so that the existing scheme still cannot deal with the emergency defect faults needing to be maintained in time.
Disclosure of Invention
The invention aims to overcome the defect that the defect fault of equipment is difficult to respond efficiently due to the fact that the error of positioning data acquired by an unmanned aerial vehicle by using a GPS in the existing unmanned aerial vehicle inspection scheme of a photovoltaic power station in the prior art is large, and provides a method, a system, equipment and a storage medium for positioning defect equipment of the photovoltaic power station.
The invention solves the technical problems through the following technical scheme:
the invention provides an equipment positioning method of a photovoltaic power station, which comprises the following steps:
acquiring a device number of a device in the photovoltaic power station and depression data of a region where the device is located, generating a device panoramic map based on the device number and the depression data, and carrying out meshing processing on the device panoramic map to obtain position information of the device;
acquiring device image data shot by an unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when shooting the device image data;
determining a target device in the device image data;
and determining the equipment number and the position information of the target equipment based on the position of the target equipment in the equipment image data, the longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the equipment image data and the equipment panoramic map.
Preferably, the step of acquiring the device number of the device in the photovoltaic power station and the overhead data of the area where the device is located, generating a device panoramic map based on the device number and the overhead data, and performing meshing processing on the device panoramic map includes:
acquiring the equipment number of equipment in the photovoltaic power station and a near-earth image, a high-altitude image and a satellite image of an area where the equipment is located;
splicing the near map images to serve as a picture basis of the equipment panoramic map, carrying out visual angle distortion calibration on the high-altitude image by using the satellite image, and carrying out layout shape calibration on panoramic equipment by using the high-altitude image to obtain the equipment panoramic map;
and acquiring longitude and latitude information of four corners of the equipment panoramic map, and carrying out gridding processing on the equipment panoramic map to obtain the position information of the equipment.
Preferably, before the step of obtaining the image data of the device photographed by the drone, the device positioning method further includes:
controlling the unmanned aerial vehicle to sail along a preset air route according to a remote control instruction and storing sailing data;
the navigation data comprises flight parameters and route data;
and determining an aerial photography scheme of the unmanned aerial vehicle according to the navigation data.
Preferably, before the step of controlling the unmanned aerial vehicle to navigate along a preset route according to the remote control instruction, the apparatus positioning method further includes:
generating the remote control instruction according to weather data;
the aerial photography scenario includes weather information.
Preferably, the step of obtaining the device image data shot by the unmanned aerial vehicle and the longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the device image data includes:
acquiring equipment image data shot by an unmanned aerial vehicle;
acquiring current longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the equipment image data through a satellite positioning system of the unmanned aerial vehicle;
eliminating the error of the current longitude and latitude information through the measurement data of an RTK (Real-time kinematic) ground base station to obtain the target longitude and latitude information;
and generating longitude and latitude watermarks according to the target longitude and latitude information and displaying the longitude and latitude watermarks on the image data of the equipment.
Preferably, the device positioning method further comprises:
determining the equipment number of the equipment at the central position of the equipment image data based on the longitude and latitude information and the equipment panoramic map;
the step of determining the device number and the location information of the target device based on the location of the target device in the device image data, the longitude and latitude information of the unmanned aerial vehicle corresponding to when the device image data is shot, and the device panoramic map includes:
overlapping and fitting the device image data and the device panoramic map by the device number of the central location device;
and determining the equipment number and the position information of the target equipment according to the position relation between the target equipment and the central position equipment in the equipment image data.
Preferably, the step of determining the target device in the device image data comprises:
inputting the device image data to a visual defect detection model to obtain defective devices in the device image data.
Preferably, the step of determining the target device in the device image data further comprises:
inputting the device image data to the visual defect detection model to obtain a defect type of the defective device;
and marking the defect type on the equipment image data.
Preferably, the device positioning method further comprises:
generating path information of the preset position to the defective device based on the position information and the preset position of the defective device; and/or the presence of a gas in the gas,
generating a maintenance recommendation based on the defect type.
The invention also provides an equipment positioning system of a photovoltaic power station, comprising:
the device panoramic map generation module is used for acquiring a device number of a device in the photovoltaic power station and pitch-down data of a region where the device is located, generating a device panoramic map based on the device number and the pitch-down data, and carrying out meshing processing on the device panoramic map to obtain position information of the device;
the device image data acquisition module is used for acquiring device image data shot by an unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when shooting the device image data;
a target device determination module for determining a target device in the device image data;
and the target equipment information determining module is used for determining the equipment number and the position information of the target equipment based on the position of the target equipment in the equipment image data, the longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the equipment image data and the equipment panoramic map.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the device positioning method of the photovoltaic power station.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for device localization of a photovoltaic power plant as described above.
The positive progress effects of the invention are as follows:
according to the equipment positioning method of the photovoltaic power station, the digitalized equipment panoramic map of the photovoltaic power station is constructed, the unmanned aerial vehicle is used for obtaining the equipment image data and the corresponding longitude and latitude information, the equipment image data containing the target equipment is detected, and the equipment number and the position information of the target equipment are determined based on the position of the target equipment, the longitude and latitude information of the unmanned aerial vehicle and the equipment panoramic map, so that the automation of the discovery and the law determination of the target equipment of the photovoltaic power station is realized, the inspection and maintenance efficiency of the photovoltaic power station is improved, and the performance and the safety of the photovoltaic power station are ensured.
Drawings
Fig. 1 is a flowchart of an apparatus positioning method of a photovoltaic power plant of embodiment 1.
Fig. 2 is a flowchart of an apparatus positioning method of a photovoltaic power plant of embodiment 2.
Fig. 3 is a block schematic diagram of an equipment positioning system of a photovoltaic power plant of embodiment 3.
Fig. 4 is a block schematic diagram of an equipment positioning system of a photovoltaic power plant of embodiment 4.
Fig. 5 is a schematic diagram of a hardware structure of the electronic device according to embodiment 5.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Please refer to fig. 1, which is a flowchart illustrating an apparatus positioning method of a photovoltaic power station in this embodiment. Specifically, as shown in fig. 1, the device positioning method includes:
s101, acquiring the equipment number of equipment in the photovoltaic power station and the overhead data of the area where the equipment is located, generating an equipment panoramic map based on the equipment number and the overhead data, and carrying out meshing processing on the equipment panoramic map to obtain the position information of the equipment. Specifically, the nodding data can be spliced into an equipment panoramic map, the equipment numbers are input into the equipment panoramic map so that the equipment in the map has corresponding equipment label information, and longitude and latitude information of the preset position of the equipment panoramic map is acquired and subjected to gridding processing so that each position in the equipment panoramic map has high-precision longitude and latitude data.
S102, acquiring device image data shot by the unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when the device image data is shot. Specifically, if the shooting angle of the fixed unmanned aerial vehicle is vertically downward, the longitude and latitude information of the unmanned aerial vehicle when shooting the device image data is the longitude and latitude information of the center of the device image data.
S103, determining the target equipment in the equipment image data. Specifically, the device image data may be processed using a machine image recognition algorithm to obtain a target device having a preset characteristic in the device image data.
S104, determining the equipment number and the position information of the target equipment based on the position of the target equipment in the equipment image data, the longitude and latitude information of the corresponding unmanned aerial vehicle when the equipment image data is shot and the equipment panoramic map. Specifically, longitude and latitude information of the center of the device image data can be determined based on the longitude and latitude information of the unmanned aerial vehicle, and a device number and position information of the target device can be determined on the device panoramic map based on the position of the target device in the device image data relative to the center and the longitude and latitude information of the center.
According to the equipment positioning method of the photovoltaic power station, the digitalized equipment panoramic map of the photovoltaic power station is constructed, the unmanned aerial vehicle is used for obtaining the equipment image data and the corresponding longitude and latitude information and detecting the equipment image data containing the target equipment, and the equipment number and the position information of the target equipment are determined based on the position of the target equipment, the longitude and latitude information of the unmanned aerial vehicle and the equipment panoramic map, so that the automation of finding and determining the target equipment of the photovoltaic power station is realized, the inspection and maintenance efficiency of the photovoltaic power station is improved, and the performance and the safety of the photovoltaic power station are ensured.
Example 2
As shown in fig. 2, the method for positioning equipment in a photovoltaic power plant of the present embodiment is a further improvement of embodiment 1, and specifically:
in an alternative embodiment, step S101 includes:
s1011, acquiring the equipment number of the equipment in the photovoltaic power station and the near-earth image, the high-altitude image and the satellite image of the area where the equipment is located. Specifically, a near-ground overhead image and a high-altitude overhead image may be acquired by the drone.
And S1012, splicing the near-earth images to serve as a picture basis of the equipment panoramic map, carrying out visual angle distortion calibration on the high-altitude images by using the satellite images, and carrying out layout shape calibration on the panoramic equipment by using the high-altitude images to obtain the equipment panoramic map. Specifically, the method can be combined with near-earth multi-picture shooting and splicing software, high-altitude satellite images and high-altitude overhead images of an unmanned aerial vehicle product, wherein the near-earth images are used as a high-definition picture foundation, the high-altitude images are used for calibrating the layout shape of panoramic equipment, the satellite images are used for calibrating the visual angle distortion of the high-altitude overhead images, three image data are synthesized to filter errors, and an equipment panoramic map of the photovoltaic power station is generated.
And S1013, acquiring longitude and latitude information of four corners of the equipment panoramic map, and carrying out gridding processing on the equipment panoramic map to obtain position information of the equipment. Specifically, the unmanned aerial vehicle can be hovered at four corners of the equipment panoramic map to position the longitude and latitude of the unmanned aerial vehicle, longitude and latitude information of four corners of the panoramic map is obtained, gridding data processing is carried out on an image, the equipment panoramic map containing a complete longitude and latitude network is further generated, the equipment panoramic map is edited and generated according to the longitude and latitude information, and the equipment number and the central position longitude and latitude data of each photovoltaic panel can be positioned on the visible light map of the equipment panoramic map.
In an optional implementation manner, before step S102, the device positioning method further includes:
s201, controlling the unmanned aerial vehicle to navigate along a preset air route according to a remote control instruction and storing navigation data; the navigation data includes flight parameters and course data. Specifically, the pilot can be operated by the unmanned aerial vehicle at a professional level to take an aerial photograph according to the requirement and the air route planning, and the air route recording function of the unmanned aerial vehicle system is utilized to record and store the navigation data. The route planning should ensure that all equipment in the power station can be completely shot by one-time aerial photography.
S202, determining an aerial photography scheme of the unmanned aerial vehicle according to the navigation data. Specifically, can be according to the historical navigation data generation automatic scheme of taking photo by plane of unmanned aerial vehicle of record and storage in the actual fortune dimension scene, start unmanned aerial vehicle take off the back, directly select the flight scheme, accomplish the flight task of patrolling and examining voluntarily for professional unmanned aerial vehicle pilot need not resident photovoltaic power plant.
In an optional implementation manner, before step S201, the device positioning method further includes:
and S200, generating a remote control command according to the weather data.
The aerial photography scenario includes weather information. Specifically, the aerial photography scheme can be divided into:
(1) high-precision scheme: the unmanned aerial vehicle is inspected under the conditions of clear, no wind and good light, the flying speed is slow, and the vertical distance between the unmanned aerial vehicle and the equipment is about 5 meters; the method is suitable for periodically selecting the time with excellent meteorological conditions to carry out high-quality inspection.
(2) And (3) an equalization scheme: the unmanned aerial vehicle is inspected under the conditions of cloudy days, breeze and normal light, the flying speed is moderate, and the vertical distance between the unmanned aerial vehicle and the equipment is about 10 meters; the aerial photographing system is suitable for routine aerial photographing and routing inspection.
(3) The safety scheme is as follows: the method is characterized in that slight rainfall (less than 10mm and millimeter) starts in the flying process, the wind power is below 5 level, and the safe flying mode can be automatically/manually switched when the light condition can still carry out image acquisition; the flight speed is moderate, and unmanned aerial vehicle and about 20 meters of equipment vertical distance adopt and simplify version flight route for the image only satisfies that all photovoltaic cell panel equipment in the picture appear at least completely once, only is applicable to comparatively clear easy discernment's defect investigation.
The unmanned aerial vehicle can switch a high-definition shooting mode, a balanced shooting mode and a safe shooting mode according to field conditions, can execute actions of returning to a starting point for flying again, hovering in place, terminating return flight and landing of a task and the like according to a received instruction. When rainfall is larger than 10mm before flying or wind power is larger than or equal to five levels, the unmanned aerial vehicle is prevented from taking off; rainfall of more than 10mm appears in the flight in-process, wind-force more than or equal to five grades, or when light makes unable the collection of image dark, unsuitable unmanned aerial vehicle continues to gather and patrols and examines video image, will automatically trigger unmanned aerial vehicle and return to the journey, guaranteed the security that unmanned aerial vehicle patrolled and examined.
In an alternative embodiment, step S102 includes:
and S1021, acquiring the image data of the equipment shot by the unmanned aerial vehicle. Specifically, unmanned aerial vehicle carries on visible light and the infrared camera of 60 frame formation of image of high definition 4K picture, takes photo in the process of sailing and shoots the photovoltaic cell board picture through stabilizing the cloud platform with perpendicular decurrent angle.
S1022, acquiring the current longitude and latitude information of the corresponding unmanned aerial vehicle when the image data of the shooting device is acquired through a satellite positioning system of the unmanned aerial vehicle.
S1023, eliminating the error of the current longitude and latitude information through the measurement data of the RTK ground base station to obtain the target longitude and latitude information. Specifically, RTK ground positioning basic station deploys at the open-air fixed point of photovoltaic power plant central point position, continuously carries out real-time differential location calibration longitude and latitude position, eliminates GPS's positioning error, and cooperation unmanned aerial vehicle's GPS system provides stable centimetre level longitude and latitude data.
And S1024, generating longitude and latitude watermarks according to the target longitude and latitude information and displaying the longitude and latitude watermarks on the image data of the equipment. Specifically, by combining unmanned aerial vehicle GPS system data and RTK ground base station data, a fixed centimeter-level longitude and latitude positioning is generated, the longitude and latitude can be displayed on a character watermark at the upper left corner of a shooting picture in real time, and the longitude and latitude precision reaches 8 bits after a decimal point.
In an optional implementation, the device positioning method further includes:
s203, determining the equipment number of the equipment at the central position of the equipment image data based on the longitude and latitude information and the equipment panoramic map.
At this time, step S104 includes:
and S1041, overlapping and fitting the device image data and the device panoramic map through the device number of the device at the central position. Specifically, the device image data and the device panorama map may be overlap-fitted by the device number of the center position device using a machine vision algorithm.
S1042, determining the device number and the position information of the target device according to the position relation between the target device and the central position device in the device image data.
In an alternative embodiment, step S103 includes:
and S1031, inputting the device image data into a visual defect detection model to obtain a defective device in the device image data. Specifically, the method can be used for performing real-time frame extraction defect detection on visible light and infrared video stream pictures transmitted by the unmanned aerial vehicle, setting a normal frame extraction interval to be one second and one frame, setting various frame extraction intervals, identifying longitude and latitude data watermarks on the visible light pictures, identifying temperature data of infrared images, and outputting detection results. Device defects may include hot spots, debris coverage, cracks, and the like.
In an optional implementation, step S103 further includes:
s1032, inputting the device image data into the visual defect detection model to obtain the defect type of the defective device. Specifically, the identified defect frame and the target labeling information of the defect equipment can be provided to a detection management system for displaying through a visual defect detection model for use in maintenance suggestions and order dispatching.
And S1033, marking the defect type on the equipment image data.
The video detection can be automatically managed through the video detection management module, the video detection management module switches and displays visible light and infrared videos, lists detected defect frames, clicks the defect frames to jump to the designated position of the original video and displays amplified pictures and defect labels for a workstation maintainer to recheck at any time, and simultaneously displays the time point of the detected frames, a frame timestamp, longitude and latitude corresponding to the frames, and information such as the number of central equipment, a defect list, a detection state and the like corresponding to the longitude and latitude of the frames.
In an optional implementation, the device positioning method further includes:
and S204, generating path information of the preset position to the defective device based on the position information and the preset position of the defective device.
And S205, generating a maintenance suggestion based on the defect type.
It should be noted that the present embodiment does not limit the sequence of steps S204 and S205. And acquiring the serial number and the defect type of the defect equipment according to the equipment panoramic map and the visual defect detection model, automatically generating a maintenance work order containing information such as specified defect type maintenance suggestions and suggestions for going to a maintenance path, and performing a dispatching process.
By using the equipment positioning method of the photovoltaic power station, in the process of executing a daily inspection task, an inspection maintenance worker starts an unmanned aerial vehicle at a specified position, after selecting a flight mode, the inspection maintenance worker automatically performs flight aerial photography according to a corresponding route and flight parameters, the maintenance task checks defect detection results on a ground workstation interface in real time, when any defect is found, a defect frame can be clicked to perform backtracking review, when a maintenance work order is generated, manual review can be performed on the detected defect, an execution suggestion is added to the maintenance work order, and the like. If abnormity occurs in the execution process, the unmanned aerial vehicle returns to the starting point beside the ground workstation, and the flight aerial photography task is executed again after faults are eliminated. After the aerial photography task in the current day is completed, the unmanned aerial vehicle flies back to the starting point, and the maintenance personnel carry out operations such as recovery, maintenance, charging and the like on the unmanned aerial vehicle. And after the inspection result is determined to be abnormal and the maintenance task is completed, the inspection task flow on the day is finished.
According to the equipment positioning method of the photovoltaic power station, the digitalized equipment panoramic map of the photovoltaic power station is constructed, the unmanned aerial vehicle is used for obtaining the equipment image data and the corresponding longitude and latitude information, the equipment image data containing the target equipment is detected, the position of the target equipment relative to the central equipment is determined by using the image detection model, the equipment number and the position information of the target equipment are determined based on the central position equipment of the equipment image data, the position of the target equipment relative to the central equipment and the equipment panoramic map, and the maintenance work order of information such as maintenance suggestions and maintenance path suggestions is automatically generated, so that the automation of finding, determining and maintaining of the target equipment of the photovoltaic power station is realized, the efficiency of routing inspection and maintenance of the photovoltaic power station is improved, and the performance and the safety of the photovoltaic power station are ensured.
Example 3
Please refer to fig. 3, which is a schematic block diagram of an apparatus positioning system of a photovoltaic power station in this embodiment.
Specifically, as shown in fig. 3, the device positioning system includes:
the device panoramic map generation module 1 is configured to acquire a device number of a device in the photovoltaic power station and pitch-down data of a region where the device is located, generate a device panoramic map based on the device number and the pitch-down data, and perform meshing processing on the device panoramic map to obtain position information of the device; specifically, the nodding data can be spliced into an equipment panoramic map, the equipment numbers are input into the equipment panoramic map so that the equipment in the map has corresponding equipment label information, and longitude and latitude information of the preset position of the equipment panoramic map is acquired and subjected to gridding processing so that each position in the equipment panoramic map has high-precision longitude and latitude data.
The device image data acquisition module 2 is used for acquiring device image data shot by an unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when shooting the device image data; specifically, if the shooting angle of the fixed unmanned aerial vehicle is vertically downward, the longitude and latitude information of the unmanned aerial vehicle when shooting the device image data is the longitude and latitude information of the center of the device image data.
A target device determining module 3, configured to determine a target device in the device image data; specifically, the device image data may be processed using a machine image recognition algorithm to obtain a target device having a preset characteristic in the device image data.
And the target device information determining module 4 is configured to determine a device number and position information of the target device based on the position of the target device in the device image data, latitude and longitude information of the unmanned aerial vehicle corresponding to when the device image data is shot, and the device panoramic map. Specifically, longitude and latitude information of the center of the device image data can be determined based on the longitude and latitude information of the unmanned aerial vehicle, and a device number and position information of the target device can be determined on the device panoramic map based on the position of the target device in the device image data relative to the center and the longitude and latitude information of the center.
The equipment positioning system of the photovoltaic power station provided by the embodiment comprises an unmanned aerial vehicle, a data-based equipment panoramic map of the photovoltaic power station is constructed, the unmanned aerial vehicle is used for acquiring equipment image data and corresponding longitude and latitude information and detecting the equipment image data containing target equipment, and the equipment number and the position information of the target equipment are determined based on the position of the target equipment, the longitude and latitude information of the unmanned aerial vehicle and the equipment panoramic map, so that the automation of target equipment discovery and law determination of the photovoltaic power station is realized, the inspection and maintenance efficiency of the photovoltaic power station is improved, and the performance and the safety of the photovoltaic power station are ensured.
Example 4
As shown in fig. 4, the method for positioning equipment in a photovoltaic power plant of the present embodiment is a further improvement of embodiment 1, and specifically:
in an optional implementation manner, the device panoramic map generation module 1 is further configured to obtain a device number of a device in the photovoltaic power station and a ground-near image, a high-altitude image, and a satellite image of an area where the device is located. Specifically, a near-ground overhead image and a high-altitude overhead image may be acquired by the drone.
The device panoramic map generation module 1 is further configured to splice the near-earth images to serve as a picture basis of the device panoramic map, perform view distortion calibration on the high-altitude image by using the satellite image, and perform layout shape calibration on the panoramic device by using the high-altitude image to obtain the device panoramic map. Specifically, the method can be combined with near-earth multi-picture shooting and splicing software, high-altitude satellite images and high-altitude overhead images of an unmanned aerial vehicle product, wherein the near-earth images are used as a high-definition picture foundation, the high-altitude images are used for calibrating the layout shape of panoramic equipment, the satellite images are used for calibrating the visual angle distortion of the high-altitude overhead images, three image data are synthesized to filter errors, and an equipment panoramic map of the photovoltaic power station is generated.
The device panoramic map generation module 1 is further configured to acquire longitude and latitude information of four corners of the device panoramic map and perform meshing processing on the device panoramic map to obtain location information of the device. Specifically, the unmanned aerial vehicle can be hovered at four corners of the equipment panoramic map to position the longitude and latitude of the unmanned aerial vehicle, longitude and latitude information of four corners of the panoramic map is obtained, gridding data processing is carried out on an image, the equipment panoramic map containing a complete longitude and latitude network is further generated, the equipment panoramic map is edited and generated according to the longitude and latitude information, and the equipment number and the central position longitude and latitude data of each photovoltaic panel can be positioned on the visible light map of the equipment panoramic map.
In an alternative embodiment, the equipment locating system further comprises a voyage data storage module 5. Controlling the unmanned aerial vehicle to navigate along a preset air route according to the remote control instruction, wherein the navigation data storage module 5 is used for storing navigation data; the navigation data includes flight parameters and course data. Specifically, the pilot can be operated by the unmanned aerial vehicle at a professional level to take an aerial photograph according to the requirement and the air route planning, and the air route recording function of the unmanned aerial vehicle system is utilized to record and store the navigation data. The route planning should ensure that all equipment in the power station can be completely shot by one-time aerial photography.
The equipment positioning system further comprises an aerial photography scheme determining module 6, which is used for determining the aerial photography scheme of the unmanned aerial vehicle according to the navigation data. Specifically, can be according to the historical navigation data generation automatic scheme of taking photo by plane of unmanned aerial vehicle of record and storage in the actual fortune dimension scene, start unmanned aerial vehicle take off the back, directly select the flight scheme, accomplish the flight task of patrolling and examining voluntarily for professional unmanned aerial vehicle pilot need not resident photovoltaic power plant.
In an alternative embodiment, the device location system further comprises:
and the remote control instruction generating module 7 is used for generating a remote control instruction according to the weather data.
The aerial photography scenario includes weather information. Specifically, the aerial photography scheme can be divided into:
(1) high-precision scheme: the unmanned aerial vehicle is inspected under the conditions of clear, no wind and good light, the flying speed is slow, and the vertical distance between the unmanned aerial vehicle and the equipment is about 5 meters; the method is suitable for periodically selecting the time with excellent meteorological conditions to carry out high-quality inspection.
(2) And (3) an equalization scheme: the unmanned aerial vehicle is inspected under the conditions of cloudy days, breeze and normal light, the flying speed is moderate, and the vertical distance between the unmanned aerial vehicle and the equipment is about 10 meters; the aerial photographing system is suitable for routine aerial photographing and routing inspection.
(3) The safety scheme is as follows: the method is characterized in that slight rainfall (less than 10mm) begins in the flight process, the wind power is below 5 levels, and the safe flight mode can be automatically/manually switched when the light condition can still carry out image acquisition; the flight speed is moderate, and unmanned aerial vehicle and about 20 meters of equipment vertical distance adopt and simplify version flight route for the image only satisfies that all photovoltaic cell panel equipment in the picture appear at least completely once, only is applicable to comparatively clear easy discernment's defect investigation.
The unmanned aerial vehicle can switch a high-definition shooting mode, a balanced shooting mode and a safe shooting mode according to field conditions, can execute actions of returning to a starting point for flying again, hovering in place, terminating return flight and landing of a task and the like according to a received instruction. When rainfall is larger than 10mm before flying or wind power is larger than or equal to five levels, the unmanned aerial vehicle is prevented from taking off; rainfall of more than 10mm appears in the flight in-process, wind-force more than or equal to five grades, or when light makes unable the collection of image dark, unsuitable unmanned aerial vehicle continues to gather and patrols and examines video image, will automatically trigger unmanned aerial vehicle and return to the journey, guaranteed the security that unmanned aerial vehicle patrolled and examined.
In an optional embodiment, the device image data obtaining module 2 is further configured to obtain device image data captured by the drone. Specifically, unmanned aerial vehicle carries on visible light and the infrared camera of 60 frame formation of image of high definition 4K picture, takes photo in the process of sailing and shoots the photovoltaic cell board picture through stabilizing the cloud platform with perpendicular decurrent angle.
The device image data acquisition module 2 is further configured to acquire, through a satellite positioning system of the unmanned aerial vehicle, current longitude and latitude information of the unmanned aerial vehicle corresponding to the device image data when being shot.
The device image data acquisition module 2 is further configured to eliminate an error of the current longitude and latitude information through measurement data of the RTK ground base station to obtain target longitude and latitude information. Specifically, RTK ground positioning basic station deploys at the open-air fixed point of photovoltaic power plant central point position, continuously carries out real-time differential location calibration longitude and latitude position, eliminates GPS's positioning error, and cooperation unmanned aerial vehicle's GPS system provides stable centimetre level longitude and latitude data.
The device image data acquisition module 2 is further configured to generate a latitude and longitude watermark according to the target latitude and longitude information and display the latitude and longitude watermark on the device image data. Specifically, by combining unmanned aerial vehicle GPS system data and RTK ground base station data, a fixed centimeter-level longitude and latitude positioning is generated, the longitude and latitude can be displayed on a character watermark at the upper left corner of a shooting picture in real time, and the longitude and latitude precision reaches 8 bits after a decimal point.
In an alternative embodiment, the device location system further comprises:
and the central position equipment determining module 8 is used for determining the equipment number of the central position equipment of the equipment image data based on the longitude and latitude information and the equipment panoramic map.
At this time, the target device information determination module 4 is also configured to overlap-fit the device image data and the device panoramic map by the device number of the center position device. Specifically, the device image data and the device panorama map may be overlap-fitted by the device number of the center position device using a machine vision algorithm.
The target device information determining module 4 is further configured to determine a device number and location information of the target device according to a location relationship between the target device and the central location device in the device image data.
In an alternative embodiment, the target device determining module 3 is further configured to input the device image data to a visual defect detection model to obtain a defective device in the device image data. Specifically, the method can be used for performing real-time frame extraction defect detection on visible light and infrared video stream pictures transmitted by the unmanned aerial vehicle, setting a normal frame extraction interval to be one second and one frame, setting various frame extraction intervals, identifying longitude and latitude data watermarks on the visible light pictures, identifying temperature data of infrared images, and outputting detection results. Device defects may include hot spots, debris coverage, cracks, and the like.
In an alternative embodiment, the target device determining module 3 is further configured to input the device image data to the visual defect detection model to obtain the defect type of the defective device. Specifically, the identified defect frame and the target labeling information of the defect equipment can be provided to a detection management system for displaying through a visual defect detection model for use in maintenance suggestions and order dispatching.
The target device determination module 3 is also configured to label the defect type on the device image data.
The video detection can be automatically managed through the video detection management module, the video detection management module switches and displays visible light and infrared videos, lists detected defect frames, clicks the defect frames to jump to the designated position of the original video and displays amplified pictures and defect labels for a workstation maintainer to recheck at any time, and simultaneously displays the time point of the detected frames, a frame timestamp, longitude and latitude corresponding to the frames, and information such as the number of central equipment, a defect list, a detection state and the like corresponding to the longitude and latitude of the frames.
In an optional implementation, the device positioning method further includes:
and the maintenance path generating module 9 is configured to generate path information from the preset position to the defective device based on the position information of the defective device and the preset position.
And a maintenance suggestion generation module 10 for generating a maintenance suggestion based on the defect type.
Specifically, a defect equipment number and a defect type are obtained according to an equipment panoramic map and a visual defect detection model, a maintenance work order containing information such as a specified defect type maintenance suggestion and a suggestion of going to a maintenance path is automatically generated, and a dispatching process is carried out.
Utilize the equipment positioning system of photovoltaic power plant of this embodiment, in carrying out daily task flow of patrolling and examining, patrol and examine maintenance staff and start unmanned aerial vehicle at the assigned position, automatic flight according to corresponding route and flight parameter after selecting flight mode takes photo by plane, the maintenance task looks over the defect detection result in real time on ground workstation interface, can click the defect frame when discovering arbitrary defect and go on the review, can carry out artifical review to the detection defect when generating the maintenance work order, add execution suggestion etc. to the maintenance work order. If abnormity occurs in the execution process, the unmanned aerial vehicle returns to the starting point beside the ground workstation, and the flight aerial photography task is executed again after faults are eliminated. After the aerial photography task in the current day is completed, the unmanned aerial vehicle flies back to the starting point, and the maintenance personnel carry out operations such as recovery, maintenance, charging and the like on the unmanned aerial vehicle. And after the inspection result is determined to be abnormal and the maintenance task is completed, the inspection task flow on the day is finished.
According to the equipment positioning method of the photovoltaic power station, the digitalized equipment panoramic map of the photovoltaic power station is constructed, the unmanned aerial vehicle is used for obtaining the equipment image data and the corresponding longitude and latitude information, the equipment image data containing the target equipment is detected, the position of the target equipment relative to the central equipment is determined by using the image detection model, the equipment number and the position information of the target equipment are determined based on the central position equipment of the equipment image data, the position of the target equipment relative to the central equipment and the equipment panoramic map, and the maintenance work order of information such as maintenance suggestions and maintenance path suggestions is automatically generated, so that the automation of finding, determining and maintaining of the target equipment of the photovoltaic power station is realized, the efficiency of routing inspection and maintenance of the photovoltaic power station is improved, and the performance and the safety of the photovoltaic power station are ensured.
Example 5
Fig. 5 is a schematic structural diagram of an electronic device according to embodiment 5 of the present invention. The electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the method for device location of a photovoltaic power plant of embodiment 1 or embodiment 2. The electronic device 30 shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 5, the electronic device 30 may be embodied in the form of a general purpose computing device, which may be, for example, a server device. The components of the electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, and a bus 33 connecting the various system components (including the memory 32 and the processor 31).
The bus 33 includes a data bus, an address bus, and a control bus.
The memory 32 may include volatile memory, such as Random Access Memory (RAM)321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.
The processor 31 executes various functional applications and data processing, such as the device positioning method of the photovoltaic power plant of embodiment 1 or embodiment 2 of the present invention, by running the computer program stored in the memory 32.
The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through input/output (I/O) interfaces 35. Also, model-generating device 30 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via network adapter 36. As shown, network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the model-generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.
It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.
Example 6
The present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the device positioning method of the photovoltaic power plant of embodiment 1 or embodiment 2.
More specific examples, among others, that the readable storage medium may employ may include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible embodiment, the invention can also be implemented in the form of a program product comprising program code for causing a terminal device to carry out a method for device location of a photovoltaic power plant implementing embodiment 1 or embodiment 2 when the program product is run on the terminal device.
Where program code for carrying out the invention is written in any combination of one or more programming languages, the program code may be executed entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (12)
1. An equipment positioning method for a photovoltaic power station, the equipment positioning method comprising:
acquiring a device number of a device in the photovoltaic power station and depression data of a region where the device is located, generating a device panoramic map based on the device number and the depression data, and carrying out meshing processing on the device panoramic map to obtain position information of the device;
acquiring device image data shot by an unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when shooting the device image data;
determining a target device in the device image data;
and determining the equipment number and the position information of the target equipment based on the position of the target equipment in the equipment image data, the longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the equipment image data and the equipment panoramic map.
2. The device positioning method according to claim 1, wherein the step of acquiring a device number of a device in the photovoltaic power station and overhead data of a region where the device is located, generating a device panoramic map based on the device number and the overhead data, and meshing the device panoramic map comprises:
acquiring the equipment number of equipment in the photovoltaic power station and a near-earth image, a high-altitude image and a satellite image of an area where the equipment is located;
splicing the near map images to serve as a picture basis of the equipment panoramic map, carrying out visual angle distortion calibration on the high-altitude image by using the satellite image, and carrying out layout shape calibration on panoramic equipment by using the high-altitude image to obtain the equipment panoramic map;
and acquiring longitude and latitude information of four corners of the equipment panoramic map, and carrying out gridding processing on the equipment panoramic map to obtain the position information of the equipment.
3. The device localization method of claim 1, wherein prior to the step of obtaining device image data captured by the drone, the device localization method further comprises:
controlling the unmanned aerial vehicle to sail along a preset air route according to a remote control instruction and storing sailing data;
the navigation data comprises flight parameters and route data;
and determining an aerial photography scheme of the unmanned aerial vehicle according to the navigation data.
4. The equipment positioning method according to claim 3, wherein before the step of controlling the drone to navigate along a preset route according to remote control instructions, the equipment positioning method further comprises:
generating the remote control instruction according to weather data;
the aerial photography scenario includes weather information.
5. The device positioning method according to claim 1, wherein the step of obtaining the device image data captured by the drone and the latitude and longitude information of the drone corresponding to capturing the device image data comprises:
acquiring equipment image data shot by an unmanned aerial vehicle;
acquiring current longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the equipment image data through a satellite positioning system of the unmanned aerial vehicle;
eliminating the error of the current longitude and latitude information through the measurement data of the RTK ground base station to obtain target longitude and latitude information;
and generating longitude and latitude watermarks according to the target longitude and latitude information and displaying the longitude and latitude watermarks on the image data of the equipment.
6. The device location method of claim 1, further comprising:
determining the equipment number of the equipment at the central position of the equipment image data based on the longitude and latitude information and the equipment panoramic map;
the step of determining the device number and the location information of the target device based on the location of the target device in the device image data, the longitude and latitude information of the unmanned aerial vehicle corresponding to when the device image data is shot, and the device panoramic map includes:
overlapping and fitting the device image data and the device panoramic map by the device number of the central location device;
and determining the equipment number and the position information of the target equipment according to the position relation between the target equipment and the central position equipment in the equipment image data.
7. The device localization method of claim 1, wherein the step of determining the target device in the device image data comprises:
inputting the device image data to a visual defect detection model to obtain defective devices in the device image data.
8. The device localization method of claim 7, wherein the step of determining the target device in the device image data further comprises:
inputting the device image data to the visual defect detection model to obtain a defect type of the defective device;
and marking the defect type on the equipment image data.
9. The device location method of claim 8, further comprising:
generating path information of the preset position to the defective device based on the position information and the preset position of the defective device; and/or the presence of a gas in the gas,
generating a maintenance recommendation based on the defect type.
10. An equipment positioning system for a photovoltaic power plant, the equipment positioning system comprising:
the device panoramic map generation module is used for acquiring a device number of a device in the photovoltaic power station and pitch-down data of a region where the device is located, generating a device panoramic map based on the device number and the pitch-down data, and carrying out meshing processing on the device panoramic map to obtain position information of the device;
the device image data acquisition module is used for acquiring device image data shot by an unmanned aerial vehicle and corresponding longitude and latitude information of the unmanned aerial vehicle when shooting the device image data;
a target device determination module for determining a target device in the device image data;
and the target equipment information determining module is used for determining the equipment number and the position information of the target equipment based on the position of the target equipment in the equipment image data, the longitude and latitude information of the unmanned aerial vehicle corresponding to the shooting of the equipment image data and the equipment panoramic map.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method for device localization of a photovoltaic power plant according to any one of claims 1 to 9.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for device location of a photovoltaic power plant according to any one of claims 1 to 9.
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